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Estimation of states and parameters for linear systems with nonlinearly parameterized perturbations

Authors
Publisher
Elsevier B.V.
Publication Date
Volume
60
Issue
9
Identifiers
DOI: 10.1016/j.sysconle.2011.03.012
Keywords
  • Estimation
  • Nonlinear Parameterization
  • Observers
Disciplines
  • Design

Abstract

Abstract We consider systems that can be described by a linear part with a nonlinear perturbation, where the perturbation is parameterized by a vector of unknown, constant parameters. Under a set of technical assumptions about the perturbation and its relationship to the outputs, we present a modular design technique for estimating the system states and the unknown parameters. The design consists of a high-gain observer that estimates the states of the system together with the full perturbation, and a parameter estimator constructed by the designer to invert a nonlinear equation. We illustrate the technique on a simulated dc motor with friction.

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